#include "AlgoRRTStar.h"
#include "AlgoEvaluatorDB.h"
#include <vector>

int main() 
{
	algobase::TaskConfig taskConfig;

	taskConfig.mMinLongitude = 0;
	taskConfig.mMaxLongitude = 10;
	taskConfig.mMinLatitude = 0;
	taskConfig.mMaxLatitude = 10;

	taskConfig.mStartPos = { 2, 2 };
	taskConfig.mEndPos = { 8, 7 };

	taskConfig.mTypePolygons[algobase::AreaType::AT_Restricted].push_back({
		{0, 0},
		{1, 2},
		{2, 1},
	});

	algobase::Paths pathsResult;
    
    // Create a DB instance for the algorithm to use
    algo::AlgoEvaluatorDB db(taskConfig, {algobase::EL2IT_0Topography});

	algo::AlgoRRTStar rrtStar;
	int exec_code = rrtStar.exec(taskConfig, &db, pathsResult);

	return 0;
}